CN112257624B - Mine transportation electric locomotive automatic metering system based on edge calculation - Google Patents
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Abstract
The invention provides an automatic metering system of a mine transportation electric locomotive based on edge calculation, and mainly relates to the field of non-contact weighing metering. An automatic metering system of a mine transportation electric locomotive based on edge calculation comprises an image recognition unit, a radar scanning unit, a data calculation processing unit, a network data transmission unit and an upper computer. The invention has the beneficial effects that: according to the invention, the weighing of the ore in the carriage can be completed under the condition of no stop, and the non-contact weighing mode is not limited by the number of the traction carriages of the electric locomotive any more, so that the weighing of the ore in the carriage can be more efficiently completed.
Description
Technical Field
The invention mainly relates to the field of non-contact weighing and metering, in particular to an automatic metering system for a mine transportation electric locomotive based on edge calculation.
Background
An electric locomotive is traction equipment for transporting rail vehicles, and is important equipment for transporting ores under mines. Daily production from mines is a necessary statistic. At present, the ore loaded by the electric locomotive is mainly weighed in a contact mode through a weighing system arranged on the ground rail, the weighing mode is realized when the electric locomotive is in a static state or the speed is low, and when more transport carriages are towed by the electric locomotive, the weighing range of the ground rail weighing system is exceeded, so that the weighing data is inaccurate. Meanwhile, the deceleration or parking of the electric locomotive can influence the normal transportation, so that the transportation efficiency of ores is reduced.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an automatic metering system of a mine transportation electric locomotive, which is realized based on edge calculation, and can finish weighing of ores in a carriage under the condition of no stopping, and a non-contact weighing mode is not limited by the number of traction carriages of the electric locomotive any more, so that weighing of the ores in the carriage can be more efficiently finished.
The invention aims to achieve the aim, and the aim is achieved by the following technical scheme:
the automatic metering system for the mine transportation electric locomotive based on edge calculation comprises an image recognition unit, a radar scanning unit, a data calculation processing unit, a network data transmission unit and an upper computer, wherein the automatic metering method comprises the following steps:
s1: the image recognition unit captures photos of the vehicle when the vehicle passes through the camera and the infrared photoelectric sensor, and transmits data to the data calculation processing unit;
s2: the radar scanning unit extracts a top-view section of the vehicle through the cooperation of the high-speed linear laser radar and the laser speed measuring radar, and transmits data to the data calculation processing unit through a network cable;
s3: the data calculation processing unit extracts and processes the number information of the vehicle after acquiring the image information, and then filters and splices the data sent by the radar scanning unit so as to acquire the transportation load capacity of the vehicle;
s4: the network data transmission unit transmits the data and the calculation result to the upper computer;
s5: the upper computer records the data into a database, calculates a real-time report and a historical report, finally displays the real-time report and the historical report on a user interface, and provides display and inquiry of real-time transportation information and historical transportation information of the vehicle.
Specifically, in the step S3, a mathematical model of the laser radar for scanning the dynamic moving object is firstly constructed, a large amount of ore profile data is accumulated, the ore profile data and the ground track weighing system data are compared and analyzed to obtain a density fitting curve, and the density curve is directly applied to ore volume and mass conversion, so that the overhead tangent plane of the vehicle is converted into the transportation load capacity of the vehicle by using the fitting curve.
Specifically, in the step S1, the image recognition unit obtains the paint spraying number of the electric locomotive according to the dynamic capturing technology by additionally installing a camera and strong light irradiation on the road section where the electric locomotive passes, and then converts the paint spraying number into a unique number of the vehicle through an internal algorithm, and the identity of the passing vehicle is distinguished through the number.
Specifically, in the step S2, the radar scanning unit acquires slice data of ore in the electric locomotive hopper by installing a high-speed linear laser radar right above the vehicle, and performs integrated analysis on the discrete slice data by matching with the laser speed measuring radar to form a three-dimensional ore contour.
Compared with the prior art, the invention has the beneficial effects that:
the invention recognizes the number of the carriage pulled by the electric locomotive through the image recognition unit, transmits the number information of the carriage to the upper computer, acquires the contour information of the ore through the radar scanning unit, and obtains the final ore weight through the fitting curve of the previously constructed ore density.
According to the invention, through a non-contact weighing mode, the weight measurement of the ore can be completed in the normal running state of the electric locomotive, so that the transportation efficiency of the ore is not affected.
Drawings
FIG. 1 is a block diagram of the structure of the present invention;
FIG. 2 is a graph of density ratio of the overall mass and statistical volume fit of the present invention;
FIG. 3 is a transverse sectional view of the highest point of the ore of the present invention;
FIG. 4 is a graph of instantaneous speed of operation of the electric locomotive of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. Further, it will be understood that various changes or modifications may be made by those skilled in the art after reading the teachings of the invention, and such equivalents are intended to fall within the scope of the invention as defined herein.
As shown in fig. 1-4, the automatic metering system of the mine transportation electric locomotive based on edge calculation comprises an image recognition unit, a radar scanning unit, a data calculation processing unit, a network data transmission unit and an upper computer, wherein the automatic metering method comprises the following steps:
firstly, the image recognition unit comprises a camera and an infrared photoelectric sensor, a photo of a vehicle passing through is captured through the camera and the infrared photoelectric sensor, data are transmitted to the calculation processing unit, wherein the image recognition unit acquires paint spraying numbers of the electric locomotive according to a dynamic capturing technology by additionally arranging the camera and strong light irradiation on a passing road section of the electric locomotive, and then the paint spraying numbers are converted into unique numbers of the vehicle through an internal algorithm, and the identities of the passing vehicles are distinguished through the numbers. And then the radar scanning unit extracts a top-view section of the vehicle through the matching of the high-speed linear laser radar and the laser speed measuring radar, and transmits data to the calculation processing unit through a network cable. The radar scanning unit acquires slice data of ores in the electric locomotive hopper by installing a high-speed linear laser radar scanner right above the vehicle, and integrates and analyzes the discrete slice data by matching with a laser speed measuring sensor to finally form a three-dimensional ore contour. And constructing a mathematical model of dynamic moving object scanning through the obtained ore profile, accumulating a large amount of ore profile data, and comparing and analyzing the ore profile data with the data of the ground track weighing system to obtain a fitting curve of density. And this density curve is directly applied to the ore volume and mass conversion. After the image information is obtained by the data calculation processing unit, the number information of the vehicle is extracted, processed and recorded, and then the data sent by the radar scanning unit are filtered and spliced, so that the transportation loading capacity of the vehicle is obtained; the network data transmission unit is responsible for transmitting data and calculation results to the upper computer, guaranteeing the smoothness of communication with the upper computer, and if the condition of network disconnection occurs, sending a network reconnection request, guaranteeing that the network can be reconnected to a server service after being smooth; the upper computer storage display unit is a core processing service, and is used for overall scheduling of other units, recording data into a database, calculating a real-time report and a historical report, and finally displaying the real-time report and the historical report on a user interface, so that the display and query functions of real-time transportation information and historical transportation information of the vehicle are provided.
Furthermore, the invention selects the cooperation of the image capturing technology and the infrared photoelectric switch, and the system can automatically sleep when no electric locomotive is running, so that the power consumption of the system can be reduced to the maximum extent.
Furthermore, the upper computer can refine and count the daily traffic of each team member, improve the refined management degree, automatically generate the workload report of each team member daily and monthly, replace the on-site statistics work of the statistics member, and provide data support for improving the transportation efficiency.
Specifically, the radar scanning unit rapidly scans a cross section longitudinally passing through a vehicle at a scanning speed of 3000 times/second, converts a radar laser feedback result into digital signal data, packages the data with the current time, packages the scanned vehicle running speed with the current time at the same moment, and sends the two groups of package data to the calculation processing unit together.
Specifically, the network data transmission unit is divided into a wired network and a wireless network, and transmits the data result to the upper computer through the industrial Ethernet;
specifically, the upper computer receives the transmitted data, analyzes the data format, stores the analyzed data into a real-time database, performs statistical calculation and real-time accounting in the database, and displays the calculated statistics and real-time quantity to a user interface, so that a user can conveniently check information such as the transportation quantity, the current day statistics, the per-shift statistics and the current month statistics of the current electric locomotive. The lower computer is provided with a unified scheduling system, the system uniformly schedules the network, the data and the calculation, the ARM chip is used for managing the scheduling system, the embedded operating system and a lightweight storage module are embedded, the data is stored in stages, a part of calculation result data can be cached under the condition of network disconnection, the calculation result data is not lost, and the stored data is uploaded to the upper computer again after waiting for the network to be on line again.
Specifically, according to the above process data of collection, processing, calculation and uploading, the interface display system can perform condition screening query on the original data and the calculation result, so that a user can check the check data conveniently, the upper computer system can perform curve fitting according to the manually inputted weighing amount and the calculated weighing amount of the user, and an optimal density curve graph can be obtained automatically (the density of ore bodies can be affected to different degrees according to the size of the ore blocks, the loading capacity and the internal outline of the hopper).
Example 1:
when the system is used, the image recognition unit obtains paint spraying numbers of the electric locomotive according to a dynamic capturing technology by installing cameras and strong light irradiation on a road section where the electric locomotive passes, and then converts the paint spraying numbers into unique code numbers of the vehicle through an internal algorithm, and the identities of the passing vehicles are distinguished through the code numbers;
and then, the radar scanning unit acquires slice data of ores in the electric locomotive hopper by installing a high-speed linear laser radar scanner right above the vehicle, and integrates and analyzes the discrete slice data by matching with a laser speed sensor to form a three-dimensional ore contour.
At this time, the ore cross-sectional area S at the current T time is obtained:
S＝Σ(h*Δl)
where h is the measured height of each point and Δl is the ratio of vehicle width to the number of acquisition points.
The data calculation processing unit extracts vehicle numbers from the photographed vehicle photos through a picture recognition technology, splices the vehicle radar scanning slice data according to a speed curve of the vehicle, converts the vehicle radar scanning slice data into the ore volume of the vehicle, and calculates the traffic volume through the fitted ore density.
The volume conversion formula is as follows:
V＝S*v*Δt
where S is the cross-section area of the ore, v is the vehicle speed at the corresponding time, and Δt is the two-side speed measurement time interval.
The calculation formula of the total traffic volume of the vehicle is as follows:
M＝Σ(V*ρ)
wherein M is the total mass of the transported ore, V is the volume at a certain moment, ρ is the volume conversion mass function (the volume conversion mass function is required to be obtained according to actual measurement of different crude ores in different regions, and the mass of one ore of a standard ore car is divided by the standard volume of the mine car), and the summation symbol is to sum all parameters of all current measurements.
Claims (1)
1. The automatic metering system for the mine transportation electric locomotive based on edge calculation comprises an image recognition unit, a radar scanning unit, a data calculation processing unit, a network data transmission unit and an upper computer, and is characterized in that the automatic metering method comprises the following steps:
s1: the image recognition unit captures photos of the vehicle when the vehicle passes through the camera and the infrared photoelectric sensor, and transmits data to the data calculation processing unit; the image recognition unit acquires paint spraying numbers of the electric locomotive according to a dynamic capturing technology by additionally arranging a camera and strong light irradiation on a road section where the electric locomotive passes, and then converts the paint spraying numbers into unique coded numbers of the electric locomotive through an internal algorithm, and the identities of the passing vehicles are distinguished through the coded numbers;
s2: the radar scanning unit extracts a top-view section of the vehicle through the cooperation of the high-speed linear laser radar and the laser speed measuring radar, and transmits data to the data calculation processing unit through a network cable; the radar scanning unit acquires slice data of ore in an electric locomotive bucket by installing a high-speed linear laser radar right above a vehicle, and integrates and analyzes the discrete slice data by matching with the laser speed measuring radar to form a three-dimensional ore contour;
s3: the data calculation processing unit extracts and processes the number information of the vehicle after acquiring the image information, and then filters and splices the data sent by the radar scanning unit so as to acquire the transportation load capacity of the vehicle; firstly, constructing a mathematical model of a laser radar for scanning a dynamic moving object, accumulating a large amount of ore profile data, comparing and analyzing the ore profile data with ground track weighing system data to obtain a density fitting curve, and directly applying the density curve to ore volume and mass conversion, so that a top view section image of a vehicle is converted into the transportation load capacity of the vehicle by using the fitting curve;
s4: the network data transmission unit transmits the data and the calculation result to the upper computer;
s5: the upper computer records the data into a database, calculates a real-time report and a historical report, finally displays the real-time report and the historical report on a user interface, and provides display and inquiry of real-time transportation information and historical transportation information of the vehicle.
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| CN109902857A (en) * | 2019-01-22 | 2019-06-18 | 江苏徐工工程机械研究院有限公司 | A kind of haulage vehicle gatehead automatic planning and system |
| CN109948189A (en) * | 2019-02-19 | 2019-06-28 | 江苏徐工工程机械研究院有限公司 | A kind of excavator bucket material volume and weight measuring system |
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| CN102980512A (en) * | 2012-08-29 | 2013-03-20 | 武汉武大卓越科技有限责任公司 | Fixed type automatic volume measurement system and measuring method thereof |
| CN106044663B (en) * | 2016-06-23 | 2018-12-18 | 福建工程学院 | A kind of view-based access control model technology can the forklift truck of check weighing stone digging and its method for measuring weight |
| CN109506748A (en) * | 2019-01-16 | 2019-03-22 | 济南大学 | Dynamic measures method, system and the terminal of electric locomotive compartment loading capacity |
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| CN109902857A (en) * | 2019-01-22 | 2019-06-18 | 江苏徐工工程机械研究院有限公司 | A kind of haulage vehicle gatehead automatic planning and system |
| CN109948189A (en) * | 2019-02-19 | 2019-06-28 | 江苏徐工工程机械研究院有限公司 | A kind of excavator bucket material volume and weight measuring system |
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